Mechanical motion



Jan. 4, 1944. R. PASH MECHANICAL MOTIdN Filed Sept. 11 1942 3 Sheets-Sheet l r M w n 0 T W A w INR 8 V, a

Jan. 4, 1944. R. PASH MECHANICAL MOTION Filed Sept. 11 1942' 5 Sheets-Sheet 2 FIG. '2

lNl/EN TOR R. PAS/1' B Y ATTORNEY Jan. 4, I R PASH MECHANICAL MOTION Filed Sept. 11, 1942 3 Sheets-Sheet 3 F I G. 6

INVEN 70/? R. PA SH A T TORNEY Patented Jan. 4, 1944 UNITED STATES PATENT OFFICE MECHANICAL MOTION Robert Pash, Roselle, N. J., assignor to Western Electric Company, Incorporated, New York, N. Y., a corporation of New York This invention relates to a mechanical motion, and more particularly to a mechanical linkage for converting rotary motion into rectilinear motion and to a practical application thereof in a machine tool.

There are many mechanical motions or linkages known for converting rotary motion of a lever or the like into motion which is in theory truly or closely approximately rectilinear. In most instances the members composing such a linkage all lie in and move substantiall in one common plane or in two or more parallel planes. The stiffness of such a structure transversely of this plane or these planes is then not inherent in the dynamic geometry of the linkage but depends upon the construction and rigidity of the various elements and still more of their pivotal connections. Hence such linkages are ordinarily usable only or chiefly as guiding factors and cannot be relied on to act as movable supports against stresses, especially transverse stresses.

An object of the present invention is to provide a mechanical linkage for converting rotary motion into accurately rectilinear motion, which linkage shall have inherent rigidity in all directions transverse to the direction of the rectilinear motion.

A further object of the invention is to provide means to support and guide a tool carriage or work carriage to have inherently rectilinear freedom of motion only, without reliance upon any auxiliary rectilinear or rectiplanar guide member.

With the above and other objects in view, the invention may be embodied in a linkage comprising a two dimensionally extended primary member rotatable freely about a fixed axis, a similarly formed secondary member secured to the primary member to be rotatable with respect thereto about an axis parallel to and spaced from the axis of rotation thereof, another pair of primary and secondary members similar in form, construction and mutual relation to the first pair, but having their two mutually parallel axes of rotation not parallel to the axes of the first pair, and a link pivotally secured to both secondary members to be rotatable with respect to each secondary member about an axis parallel to the axis connecting that member to its corresponding primary member.

Otherobjects and features of the invention will appear from the following detailed description of embodiments thereof taken in connection with the accompanying drawings in which the same reference numerals are applied to identical parts in the several figures and in which Fig. 1 is a diagrammatic perspective representation of an illustrative linkage embodying the invention and particularly designed to make clear the dynamic geometric principles involved;

Fig. 2 is a plan view of an analogous linkage applied to support and guide a work carriage in a machine tool and is an enlarged view on the line 2-2 of Fig. '7

Fig. 3 is a section on the line 3-3 of Fig. 2;

Fig. 4 is a detached View in side elevation of the vertical portion of the linkage of Fig. 2 straightened out;

Fig. 5 is a similar plan view of the horizontal portion thereof;

Fig. 6 is a plan view of the entire tool on a smaller scale;

Fig. 7 is a front elevation of the showing of Fig. 4;

Fig. 8 is a detached perspective view of a modified part of the showing of Fig. 1; and

Fig. 9 is a similar view of another modified part of the showing of Fig. 1.

The schematic diagram of Fig. 1 shows an ideal mechanism constructed to exhibit clearly, and with as little irrelevant detail as possible, the principles of dynamic geometry underlying the invention. A heavy and rigid slab-like base ill of rectangularly oblong shape has at the front and back corners of its left end a pair of fixed bearing blocks H-ll in which is journalled one edge of a generally plate-like member 12 in such fashion that the member I2 is freely rotatable on the axis A-B but without any other freedom of motion relatively to the base H1. The opposite edge of the member I2 is provided with a, pair of bearing blocks 14-44 in which is journalled a yoke-like member l5 to be freely rotatable on the axis DC with respect to the member I 2 but to have no other freedom of motion relatively thereto. The outer ends of the arms of the yoke 15 are provided with bearings l6l6 in which is journalled the horizontal bar I! of a universal joint cross-member 43 in such fashion as to be freely rotatable on the axis E-F with respect to the yoke IE but without any other freedom of motion relatively thereto. These parts are all so proportional and related that the three axes AB, C--D and E-F are always parallel each to each and to the plane top surface of the base l0.

At the front corner of the right end of the base I0 is a fixed, rigid, vertically upstanding bracket 20 on which is iournalled in bearings 22-22 a plate-like member 25, which for simplicity of discussion, may be thought of as identically like the member l2. t is so arranged as to be freely rotatable on the axis T-U with respect to the bracket 26 and without any other freedom of motion relatively thereto. A yoke 24, identicall like the yoke i5, is journalled in bearings 25-25 on the member El to be freely rotatable on the axis R-S relatively to the member 25 but to have no other freedom of motion relatively thereto; and the vertical bar it of the universal joint connector cross it is journalled in bearings 26-26 on the yoke 2a to be freely rotatable on the axis P-Q with respect thereto but to have no other freedom of motion relatively thereto. These several members are so proportioned and related that the three axes T-U, R-S and P-Q are always parallel each to each and perpendicular to the plane top surface of the base I53.

Further to clarify the discussion let X be the point of intersection of the axes of the two integral bars l'l and W of the universal cross is; let the point X be midway between the bearings Ifi-lii and midway between the bearings I l-l5 and midway between the bearings ll-H; and similarly let the point X be midway of the bearing pairs Etl-llt, 25-25 and 22-22.

Now imagine, for the moment, the bar i9 annihilated, and consider the chain 01 members from ll back through l5 and E2 to the base 853. Let G be the point of the axis A-B midway between the bearings l l-ll and draw GH perpendicular to AB and intersecting the axis -13 at El. By the general symmetry of the members l2 and lb discussed above, H is midway between the bearings i l-i l. Since AB and CD are parallel, GI- l perpendicular to AB is also perpendicular to CD. Similarly, it will be clear from the structure, that the line H2; is perpendicular to both CD and The member i2 is freely rotatable through a considerable angle on the axis A-B (within obvious mechanically determined limits). No matter what position the member 12 may be in, the member i5 is freely rotatable through a considerable angle on the axis C-D fixed in the member it. The point H has one degree of freedom about the fixed point G because the point H is free to take any position on a circular arc centered at G and in a plane perpendicular to the axis A-B at G. For any given position of H, the point X is similarly free to take any position on a circular are centered at H and in a plane perpendicular to the axis C-D at H. The plane permndicular to (7-D at H coincides with the plane perpendicular to the axis A-B at G since GE is perpendicular to both AB and CD, Since the point X has one degree of freedom on this plane about the point H as a center, and the point H has one degree of freedom in the same plane about the fixed point G, the point X has two degrees of freedom in the same plane. By the links l2, l5 and Il (or IE), arranged as described, the point X is therefore confined to the fixed vertical plane midway between the bearings ll-l l, perpendicular to the axes A-B, 0-D and E-F, and therefore perpendicular to the plane top surface of the base ll Thus the point X, so far as constrained by the links l2, iii and i8, is free to take any position within a considerable area in this plane but not outside this plane,

The links 28, 2 3 and E9 (or 58) can be similarly shown to form a system of the same character tied to the base at the fixed vertical axis T-U. Hence the point X, so far as constrained by the links 2E, 25 and I8, is free to take any position within a considerable area of the fixed plane perpendicular to the axis T-U at the point V midway between the bearings 22-22, defined by the radii VW and WK. But the links 2i, and #8 will not permit the point X to take any position outside of this plane.

The poin X is therefore confined by the two linkages joined at the element 68 to lie in both of these planes and is therefore confined to the fixed straight line Y2. in which these two fixed planes intersect. So long as the axes A-B and T-U are mutually truly perpendicular, whether in fact they intersect or not, and so long as the axes A-B, 0-D and E-F are mutually truly parallel and the axes T-U, R-S and P-Q are mutually truly parallel, the point X at the center of the member is and, in fact, the whole member 58 will move freely to and fro within the mechanical limits of the linkages, in true rectilinear motion, when the handle lever 21, rigidly connected to the member l2 through one of the bearings H-l l, is moved to and fro.

The rectilinear motion of the member 58 thus created, does not derive its rectilinearity from any pre existent rectilinear or rectiplanar guide or slide. And the resistance of the member ll to deflection from its straight line path is sub stantially the same in all directions transverse to its path, The anchorage through the links i5 and I? in the bearings H-H resists the horizontal component of any force tending to deflect the member it, while the vertical component of any such force is exerted through the links '24 and El upon the anchorage in the bearings 22-22. Every motion of any element of the structure with respect to any other element con nected thereto is rotary. Hence the accuracy of rectilinearity of motion of the member 28 with respect to the base it depends only on the rigidity of the various elements and on the rigidity of the bearings connecting them. The bearings occur in pairs; and the member or" each pair can be spaced as far apart and made as massive as requisite, while the various elements may also be made as massive and rigid as necessary.

A moments consideration will show further that the axes E-F and P-Q need not necessarily intersect. So long as the member then re placing the cross I8 is rigid, the axes and P-Q may be spaced apart.

For convenience of further discussion and description and of accuracy of statement in claims, the phrase folding door linkage will be used in the ensuing part of the description and in the claims to means specifically a primary link member analogous to i 2 or ii, pivotable on a main axis such as A-B or T-U having a secondary link member analogous to It or 2i secured to be movably carried thereby and to be pivotable thereon on an axis (such as (3-13 or R-S) parallel to but distinct from the main (A-B or T-U) In Figs. 2, 3, 4 and 5 there is shown an application of the mechanism above discussed, modified to support the worktable of a machine tool and to drive and at the same time guide the table in rectilinear motion. There is a vertical folding door linkage comprising a primary member generally indicated at and a secondary member generally indicated at M. Theprimary member is an H-shaped rigid structure, the H lying on its side. It comprises a vertical main member 2%, the crossbar or" the H. This is a rigid hollow cylinder of metal. At the top are two outwardly extruding horizontal arm pieces 29 and 30, welded to the upper end of the member 28 at opposite sides thereof; and at the bottom are like arm pieces 3| and 32, similarly secured, the four arms being coplanar, the arm 29 being directly over the arm 3| and the arm 30 directly over the arm 32. The arms 29 and 3| are pivotally secured as indicated on members 33 and 34, respectively, which are rigidly mounted on suitable parts of the machine frame so that the whole member 35 is freely rotatable on a fixed vertical axis TU determined by the pivot members 33 and 34. The secondary member 4| comprises a rigid hollow cylindrical body member 35 upon the upper and lower ends of which are welded cross-arms 51 and 38 respectively, so that the member 4| is also roughly H-shaped with the H on its side and the member 36 the vertical crossbar of the H. The arms 35 and 32 of the primary member 35 are pivotally connected as shown, respectively to corresponding members 39 and 40 mounted on the respective forward ends of the cross-arms 3'1 and 38. The secondary member II is thus carried on and movable with the primary member 35 and is also freely rotatable on the member 35 about the axis R,S of the members 35, .35, 32 and 48. The worktable 42 has rigidly secured on its under side a vertical, rigid, hollowly cylindrical support 53 with rightwardly extending arms rigid thereon near the top and bottom which are pivotally mounted in the rear ends of the cross-bars 37 and 38 as indicated at 44 in Fig. 2. The table 42 is thus supported on the secondary member 4! of the Vertical folding door linkage described and is pivotable with respect to th member ti about the axis PQ. Being thus mounted on the folding door linkage 35, M, the table 42 is constrained to horizontal motion, but is free to move right or left and front or back so far as the linkage 35, 4! is concerned.

In the left portion of Figs. 2 and 3 is shown a horizontal shaft 35 journalled in hearings in the machine frame to be rotatable about a horizontal axis AB. Two mutually parallel cross-arms 45 and 41 are secured near their left ends on the shaft and have a pair of rigid, hollowly cylindrical stiffening body members 48 and 49 rigidly secured between them at their centers. The members (l8 and 49 with their cross-arms H and 31 form the primary member, generally indicated at 50, of a folding door linkage, pivotable about the fixed horizontal axis A--B. Pivot arms 5| and 52 are rigidly secured to the body member 49 near its ends and are pivotally connected respectively to the cross-arms 53 and 54 rigidly secured on the ends of the hollow body cylinder 55 of the secondary member, generally indicated at 56, of the horizontal folding door linkage. The secondary member 58 is thus carried on and movable with the primary member 55 and is also freely pivotable with respect to the primary member about the axis CD of the pivot connection between the primary and secondary members.

A cylindrical member 51 is mounted on the under side of the table 42 in trunnions 58 and 59, to be freely rotatable in the trunnions, and is prevented from any longitudinal motion in the trunnions (and hence with respect to the table E2) by collars 60 and BI suitably secured on the cylinder 51. A trapezoidal plate-like connecting member 52 is rigidly secured to the cylinder '51 and is pivotally connected to the extremities of the cross-arms 53 and 54 of the secondary member 55. The members 56 and 51 are thus freely rotatable with respect to each other about the axis EF.

As already described, the table 42 is supported on the linkage 35, 4|, and is also compelled by that linkage to confine any motion which any given point of the table may have to a fixed horizontal plane. The table 52 is also connected through the cylinder 51 and member 62, to the linkage is, 56 in such fashion that any motion which any given point of the table may have is confined to a fixed vertical plane. Hence any point of the table (and therefore any point) must move in the straight line intersection of the two planes. The table 42 as a whole, therefore, is incapable of any rotational motion, and is free to move only in rectilinear, horizontal, left to right and back reciprocation.

To effect such reciprocation, a lever 63 may be rigidly mounted on shaft 35 and connected by a pull rod 54 to an operating lever 55. Working the lever 55, to and fro manually or otherwise, will then reciprocate the table 42 in horizontal, rectilinear motion.

It is to be noted that in Figs. 2 and 3, the table t2 and the two folding door linkages connected to it are shown in full lines in the same position they occupy in Figs. 6 and 7. Furthermore, in Fig. 2, the vertical linkage 35, 5E and the table 42 are also shown in dotted outline in another position. In Fig. 2, however, the horizontal linkage '55, 5G is shown in only the one position to avoid confusing the drawings. On the other hand, in Fig. 3, the table and the horizontal linkage are shown in both positions, and the vertical linkage in only the one position.

Figs. 6 and '7 illustrate the application of the arrangement of Figs. 2, 3, 4 and 5 in a machine tool, namely a machine for slitting slabs of quartz crystal with accurately straight saw cuts. The table 42 is provided with suitable clamping means 65 and aligning means 6? to hold a crystal slab I 68 on the table while the latter is reciprocated, in the manner and by the means described above, in straightly rectilinear motion under the slitting saw 65.

In the ideal mechanism of Fig. l, the bars I! I and I9, which effect a connection between the members I5 and 23 of the two linkages, are rigidly joined in one integral member l8. In an ideal mechanism this is possible, whereas in a practical embodiment it may not be. In theory and in practise both, it is not necessary for the directions of the axes AB and TU to be mutually perpendicular. It is only necessary that they be not parallel or coincident, in order that the plane of motion determined by either for the point X may intersect the plane determined by the other. In theory it is necessary that the axes AB, CD and E-F be mutually exactly parallel, as also the axes TU, R-S and PQ. Otherwise the path Y-Z of the point X will be the doubly curved intersection of two warped surfaces instead of planes. In actual practise, however, ideal conditions cannot be met, or, if met by chance, cannot be maintained. If the prac tical mechanism, such as that of Figs. 2 and 3, be constructed with the best of modern methods and with the best of modern bearing devices having no perceptible lo-oseness, still the three axes of rotation in each of the two folding door linkages will deviate from true mutual parallelism by some amount, perhaps not even measurably large and still effective to cause binding of member against member and thus resist the free travel of the table 42 if the member 62 be rigidly secured to the table. Since the principles of dynamic geometry on which the apparatus is constructed are exactly true, no least variation at all is tolerable if the mechanism is to function with such a rigid link as the cross is between the two folding door linkages. Hence, in the practical device of Figs. 2 and 3, the cylinder 5'? is made rotatable but not slidable in the trunnions 5t and 59.

If, for example, the axis C-D be minutely out of parallelism to the axis A-B while the axis EF is truly parallel to the axis -D and hence is also minutely out of parallelism to the axis A-B, then as the table travels from one extreme position of its excursion to the other, the plate 62 will tend to rotate minutely relatively to the table about the axis of the cylinder 51 as well as to turn minutely in a direction transverse to the motion of the table. The rotative stress about the axis of the cylinder is quite effective to produce binding in the bearings all through both linkages, because of the relatively large distance between the two members of each pair of bearings; while the elastic yielding throughout the chains of linkage members required to ease the turning stress is negligible. Hence by providing the rotatable but otherwise unyielding connection afforded by the cylinder El, rotatable but not slidable in its trunnions, any binding stresses in the linkage chains due to non-parallelism of the several axes of rotation, are relieved, while the departure from strict, theoretical rectilinearity, and more especially rectiplanarity, of motion of the table thus permitted is, in prastise, not detectable.

This is equivalent to substituting, in the ideal structure of Fig. 1, for the rigid cross 83 some such arrangement its as that shown in Fig. 8, where the bar ill, replacing the bar I1, is pivoted in the bar H9, replacing the bar I9. The like result may also be accomplished in other ways; for example, by making the bracket in pivotable on the base 59 about an axis not having the same direction as either the axis A--B or the axis TU, as shown at Hit and 229 in Fig. 9.

The embodiments disclosed and discussed above are illustrative and may be variously modified and adapted without departing from the spirit and scope of the invention as described and particularly pointed out in the appended claims.

What is claimed is:

l. A mechanical motion to convert rotary into rectilinear motion and comprising a base, two folding door linkages mounted upon the base and having their main axes not parallel, and a unit connecting the secondary members of the two linkages and pivotable upon each secondary member about an axis parallel to the axis about which the secondary member is pivotable on its primary member, the said unit comprising two elements pivotable upon each other about an axis whose direction is not parallel to either of the directions of the main axes f the two linkages.

2. A mechanical motion to convert rotary into rectilinear motion and comprising a base, two folding door linkages mounted upon the base and having their main axes not parallel, and means connecting the secondary members of the two linkages and pivotable upon each secondary member about an axis parallel to the axis about which the secondary member is pivotable on its primary member, the primary member of one of the said linkages being mounted upon the base to have its axis of rotation pivotable about an axis whose direction is not parallel to either of the directions of the main axes of the two linkages. a

3. In a machine, a mechanical motion to support a body and to convert rotary motion of a member of the mechanical motion into rectilinear motion 01" the body, the said motion comprising a folding door linkage mounted in the machine to have the direction of the main axis of the linkage invariable, a second folding door linkage mounted in the machine with the main axis of the second linkage not parallel to the main axis of the first linkage and with the main axis of the second linkage pivotable about an axis whose direction is not parallel to either of the directions of the main axes of the linkages, and means to connect a body to be supported and moved in rectilinear motion to the secondary member of each linkage to be pivotable thereon about an axis parallel to the axis of rotation of the secondary \member with respect to its primary member.

4. In a machine, a mechanical motion to support a body and to convert rotary motion of a member of the mechanical motion into rectilinear motion of the body, the said motion comprising a folding door linkage mounted in the machine to have the direction of the main axis of the linkage invariable, a second folding door linkage mounted in the machine with the main axis of the secprimary member, the connecting means including two elements pivotable upon each other about an axis whose direction is not parallel to either of the directions of the main axis of the linkages. 5. In a machine having a tool and a worktable to coact therewith, a pair of folding door linkages mounted in the machine with the directions of their main axes not parallel to each other and perpendicular to the direction of travel of the worktable, and means to connect the worktable to the secondary member of each linkage to be supported and guided thereby and to be pivotable thereon about an axis parallel to the main axis of the linkage, the connecting means including two elements pivotable upon each other about an axis whose direction is not parallel to either of the directions of the main axes of the linkages.

6. A mechanical motion to convert rotary into rectilinear motion and comprising a base, two folding door linkages mounted upon the base and having their main axes not parallel, and a unit connecting the secondary members of the two linkages and pivotable upon each secondary ROBERT PASH. 

